ch.aplu.raspi

Class ServoMotor

java.lang.Object

ch.aplu.raspi.ServoMotor

public class ServoMotor
extends java.lang.Object

Class that represents a motor.

Constructor Summary

Constructors

Constructor and Description
ServoMotor(int id, int home, int inc) Creates a servo motor instance with given id.

Method Summary

Methods

Modifier and Type	Method and Description
void	setPos(int position) Sets the relative position of the servo motor.
void	setPosAbs(int position) Sets the absolute position of the servo motor.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ServoMotor

public ServoMotor(int id,
          int home,
          int inc)

Creates a servo motor instance with given id. id selects header (port): 0: S12, 1: S13, 2: S14, 3: S15 -

Parameters:

id - the id of the motor

home - the PWM duty cycle for the home position

inc - the increment factor (inc_duty/inc_position)

Method Detail

setPos

public void setPos(int position)

Sets the relative position of the servo motor.

Parameters:

position - the position with respect to home and using the inc_duty/inc_position factor For most servo motors in range -200 .. 200

setPosAbs

public void setPosAbs(int position)

Sets the absolute position of the servo motor.

Parameters:

position - the position in arbitrary units in range 0..4095 (determines PWM duty cycle) For most servo motors in range 100..500